Mitsubishi Electric CR750-Q - Page 674

Appendix-654 Spline interpolation
7Appendix
An example of the CSV file is shown below.
Fig.7-75:Example of CSV file
In the first line, always describe the Table 7-15 "Data identification tag" in order from <X>. The file cannot be
imported if the "Data identification tag" is not described, or if the data on each line is insufficient (there
should be 20 data items).
■MXT file format
MXT files contain point sequence data output from MELFA-Works.
MXT files are created using the following procedure.
* Refer to the "MELFA-Works Instruction Manual (BFP-A8525)" for details on how to use MELFA-Works.
* The procedure differs in places between spline and Ex-T spline, and therefore caution is advised.
1) Starting MELFA-Works
Start MELFA-Works.
2) Grasping workpieces
* This is only required for Ex-T spline. For spline, perform the procedure in "4)Creating paths".
<Tol2> Designates the posture tolerance amount with an integer.
Setting range: 0 to 100 [%]
<Tol3> Not used. Describe as 100.
<M_SplVar> Designates the value referred to by status variable M_SplVar as an integer.
Setting range: –1 to 32767 (–1 means not set.)
<OutPort> Designates the head address of the output signal with an integer.
Setting range: –1 to 32767 (–1 means signal output invalid.)
<Bit> Designates the bit width of the signal to be output.
Setting range: 1, 8, 16, 32 [bit]
<Mask> Designates the mask pattern of the bit to enable the signal to be output with a hexadecimal.
<OutVal> Designates the data to be signal output with a hexadecimal.
<Pulse> Designates the pulse output.
Setting range: Designated (1), Not designated (0)
Data identification tag Details
Bit width Setting range [hex]
1 0, 1
8 0 to FF
16 0 to FFFF
32 0 to FFFFFFFF
Bit width Setting range [hex]
1 0, 1
8 0 to FF
16 0 to FFFF
32 0 to FFFFFFFF
<X>,<Y>,<Z>,<A>,<B>,<C>,<L1>,<L2>,<FL1>,<FL2>,<Info>,<Tol1>,<Tol2>,<Tol3>,<M_SplVar>,<OutPort>,<Bit>,<Mask>,<OutVal>,<Pulse>
300.00, 125.00, 325.00, 180.00, 0.00, 180.00, 0.00, 0.00, 7, 0, 0, 100, 100, 100, 0, 10100, 8, a, ff, 0
250.00, 100.00, 325.00, 180.00, 0.00, 180.00, 0.00, 0.00, 7, 0, 0, 100, 100, 100, 1, -1, 1, 0, 0, 0
250.00, 0.00, 325.00, 180.00, 15.00, 180.00, 0.00, 0.00, 7, 0, 1, 100, 100, 100, 10, 10100, 8, 5, ff, 1
300.00, -50.00, 325.00, 165.00, 0.00, 180.00, 0.00, 0.00, 7, 0, 1, 100, 100, 100, 100, -1, 1, 0, 0, 0
350.00, 0.00, 325.00, 180.00,-15.00, 180.00, 0.00, 0.00, 7, 0, 1, 100, 100, 100, -1, -1, 1, 0, 0, 0
300.00, 50.00, 325.00,-165.00, 0.00, 180.00, 0.00, 0.00, 7, 0, 1, 100, 100, 100, -1, -1, 1, 0, 0, 0
250.00, 0.00, 325.00, 180.00, 15.00, 180.00, 0.00, 0.00, 7, 0, 1, 100, 100, 100, 0, 10100, 8, ff, 0, 0
250.00,-100.00, 325.00, 180.00, 0.00, 180.00, 0.00, 0.00, 7, 0, 0, 50, 100, 100, -1, -1, 1, 0, 0, 0
300.00,-125.00, 325.00, 180.00, 0.00, 180.00, 0.00, 0.00, 7, 0, 0, 50, 100, 100, -1, -1, 1, 0, 0, 0